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<div class="header">
  <div class="headertitle"><div class="title">controller_functions.h</div></div>
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<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="comment">/******************************************************************************</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span><span class="comment"> * @file     controller_functions.h</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="comment"> * @brief    Public header file for CMSIS DSP Library</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="comment"> * @version  V1.10.0</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="comment"> * @date     08 July 2021</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span><span class="comment"> * Target Processor: Cortex-M and Cortex-A cores</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="comment"> ******************************************************************************/</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="comment">/*</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="comment"> * Copyright (c) 2010-2020 Arm Limited or its affiliates. All rights reserved.</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span><span class="comment"> *</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="comment"> * SPDX-License-Identifier: Apache-2.0</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span><span class="comment"> *</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span><span class="comment"> * Licensed under the Apache License, Version 2.0 (the License); you may</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno">   14</span><span class="comment"> * not use this file except in compliance with the License.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span><span class="comment"> * You may obtain a copy of the License at</span></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span><span class="comment"> *</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="comment"> * www.apache.org/licenses/LICENSE-2.0</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span><span class="comment"> *</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span><span class="comment"> * Unless required by applicable law or agreed to in writing, software</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="comment"> * distributed under the License is distributed on an AS IS BASIS, WITHOUT</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span><span class="comment"> * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span><span class="comment"> * See the License for the specific language governing permissions and</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span><span class="comment"> * limitations under the License.</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span><span class="comment"> */</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span> </div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span><span class="preprocessor">#ifndef _CONTROLLER_FUNCTIONS_H_</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno">   28</span><span class="preprocessor">#define _CONTROLLER_FUNCTIONS_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno">   30</span><span class="preprocessor">#include &quot;arm_math_types.h&quot;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno">   31</span><span class="preprocessor">#include &quot;arm_math_memory.h&quot;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno">   32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span><span class="preprocessor">#include &quot;dsp/none.h&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="preprocessor">#include &quot;dsp/utils.h&quot;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span><span class="preprocessor">#ifdef   __cplusplus</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">extern</span> <span class="stringliteral">&quot;C&quot;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span><span class="preprocessor">#define CONTROLLER_Q31_SHIFT  (32 - 9)</span></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <span class="comment">/* 1.31(q31) Fixed value of 2/360 */</span></div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  <span class="comment">/* -1 to +1 is divided into 360 values so total spacing is (2/360) */</span></div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span><span class="preprocessor">#define INPUT_SPACING         0xB60B61</span></div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span>  </div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno">   53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno">   54</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno">   58</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno">   83</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno">   90</span>  <span class="keywordtype">void</span> arm_sin_cos_f32(</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno">   91</span>        float32_t theta,</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno">   92</span>        float32_t * pSinVal,</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno">   93</span>        float32_t * pCosVal);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno">   94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno">   95</span></div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno">  102</span>  <span class="keywordtype">void</span> arm_sin_cos_q31(</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno">  103</span>        q31_t theta,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno">  104</span>        q31_t * pSinVal,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno">  105</span>        q31_t * pCosVal);</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno">  106</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno">  107</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno">  111</span>  </div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno">  169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno">  170</span></div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno">  175</span>  <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno">  176</span>  {</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno">  177</span>          q15_t A0;           </div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno">  178</span><span class="preprocessor">#if !defined (ARM_MATH_DSP)</span></div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno">  179</span>          q15_t A1;           </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno">  180</span>          q15_t A2;           </div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno">  181</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno">  182</span>          q31_t A1;           </div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno">  183</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno">  184</span>          q15_t state[3];     </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno">  185</span>          q15_t Kp;           </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno">  186</span>          q15_t Ki;           </div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno">  187</span>          q15_t Kd;           </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno">  188</span>  } <a class="code hl_struct" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a>;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno">  189</span></div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno">  194</span>  <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>  {</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno">  196</span>          q31_t A0;            </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>          q31_t A1;            </div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>          q31_t A2;            </div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>          q31_t state[3];      </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>          q31_t Kp;            </div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>          q31_t Ki;            </div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno">  202</span>          q31_t Kd;            </div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno">  203</span>  } <a class="code hl_struct" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a>;</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno">  204</span></div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno">  209</span>  <span class="keyword">typedef</span> <span class="keyword">struct</span></div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno">  210</span>  {</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno">  211</span>          float32_t A0;          </div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno">  212</span>          float32_t A1;          </div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno">  213</span>          float32_t A2;          </div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno">  214</span>          float32_t state[3];    </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno">  215</span>          float32_t Kp;          </div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno">  216</span>          float32_t Ki;          </div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno">  217</span>          float32_t Kd;          </div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno">  218</span>  } <a class="code hl_struct" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a>;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno">  219</span> </div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno">  220</span> </div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno">  221</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno">  227</span>  <span class="keywordtype">void</span> arm_pid_init_f32(</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno">  228</span>        <a class="code hl_struct" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> * S,</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>        int32_t resetStateFlag);</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span> </div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span></div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno">  236</span>  <span class="keywordtype">void</span> arm_pid_reset_f32(</div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno">  237</span>        <a class="code hl_struct" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> * S);</div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno">  238</span> </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno">  239</span></div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno">  245</span>  <span class="keywordtype">void</span> arm_pid_init_q31(</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno">  246</span>        <a class="code hl_struct" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a> * S,</div>
<div class="line"><a id="l00247" name="l00247"></a><span class="lineno">  247</span>        int32_t resetStateFlag);</div>
<div class="line"><a id="l00248" name="l00248"></a><span class="lineno">  248</span> </div>
<div class="line"><a id="l00249" name="l00249"></a><span class="lineno">  249</span></div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno">  254</span> </div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno">  255</span>  <span class="keywordtype">void</span> arm_pid_reset_q31(</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno">  256</span>        <a class="code hl_struct" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a> * S);</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno">  257</span> </div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno">  258</span></div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno">  264</span>  <span class="keywordtype">void</span> arm_pid_init_q15(</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno">  265</span>        <a class="code hl_struct" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a> * S,</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno">  266</span>        int32_t resetStateFlag);</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno">  267</span> </div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno">  268</span></div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno">  273</span>  <span class="keywordtype">void</span> arm_pid_reset_q15(</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno">  274</span>        <a class="code hl_struct" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a> * S);</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno">  275</span> </div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno">  276</span> </div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno">  277</span> </div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno">  278</span> </div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno">  279</span></div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno">  287</span>  __STATIC_FORCEINLINE float32_t <a class="code hl_function" href="group___p_i_d.html#ga5a6865ed706b7dd969ef0bd58a61f306">arm_pid_f32</a>(</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno">  288</span>  <a class="code hl_struct" href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a> * S,</div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno">  289</span>  float32_t in)</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno">  290</span>  {</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno">  291</span>    float32_t out;</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno">  292</span> </div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno">  293</span>    <span class="comment">/* y[n] = y[n-1] + A0 * x[n] + A1 * x[n-1] + A2 * x[n-2]  */</span></div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno">  294</span>    out = (S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ad7b0bed64915d0a25a3409fa2dc45556">A0</a> * in) +</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno">  295</span>      (S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#a7def89571c50f7137a213326a396e560">A1</a> * S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[0]) + (S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#a155acf642ba2f521869f19d694cd7fa0">A2</a> * S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[1]) + (S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[2]);</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno">  296</span> </div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno">  297</span>    <span class="comment">/* Update state */</span></div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno">  298</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[1] = S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[0];</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno">  299</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[0] = in;</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno">  300</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[2] = out;</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno">  301</span> </div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno">  302</span>    <span class="comment">/* return to application */</span></div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno">  303</span>    <span class="keywordflow">return</span> (out);</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno">  304</span> </div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno">  305</span>  }</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno">  306</span></div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno">  321</span>__STATIC_FORCEINLINE q31_t <a class="code hl_function" href="group___p_i_d.html#ga9ead8b3180125fb42879389477b99dc8">arm_pid_q31</a>(</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno">  322</span>  <a class="code hl_struct" href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a> * S,</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno">  323</span>  q31_t in)</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno">  324</span>  {</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno">  325</span>    q63_t acc;</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno">  326</span>    q31_t out;</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno">  327</span> </div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno">  328</span>    <span class="comment">/* acc = A0 * x[n]  */</span></div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno">  329</span>    acc = (q63_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">A0</a> * in;</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno">  330</span> </div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno">  331</span>    <span class="comment">/* acc += A1 * x[n-1] */</span></div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno">  332</span>    acc += (q63_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#a7def89571c50f7137a213326a396e560">A1</a> * S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[0];</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno">  333</span> </div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno">  334</span>    <span class="comment">/* acc += A2 * x[n-2]  */</span></div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno">  335</span>    acc += (q63_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#a155acf642ba2f521869f19d694cd7fa0">A2</a> * S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[1];</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno">  336</span> </div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno">  337</span>    <span class="comment">/* convert output to 1.31 format to add y[n-1] */</span></div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno">  338</span>    out = (q31_t) (acc &gt;&gt; 31U);</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno">  339</span> </div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno">  340</span>    <span class="comment">/* out += y[n-1] */</span></div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno">  341</span>    out += S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[2];</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno">  342</span> </div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno">  343</span>    <span class="comment">/* Update state */</span></div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno">  344</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[1] = S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[0];</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno">  345</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[0] = in;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno">  346</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">state</a>[2] = out;</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno">  347</span> </div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno">  348</span>    <span class="comment">/* return to application */</span></div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno">  349</span>    <span class="keywordflow">return</span> (out);</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno">  350</span>  }</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span> </div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno">  352</span></div>
<div class="line"><a id="l00368" name="l00368"></a><span class="lineno">  368</span>__STATIC_FORCEINLINE q15_t <a class="code hl_function" href="group___p_i_d.html#ga7ecc87208cb297fb9a31cec4f18bb54e">arm_pid_q15</a>(</div>
<div class="line"><a id="l00369" name="l00369"></a><span class="lineno">  369</span>  <a class="code hl_struct" href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a> * S,</div>
<div class="line"><a id="l00370" name="l00370"></a><span class="lineno">  370</span>  q15_t in)</div>
<div class="line"><a id="l00371" name="l00371"></a><span class="lineno">  371</span>  {</div>
<div class="line"><a id="l00372" name="l00372"></a><span class="lineno">  372</span>    q63_t acc;</div>
<div class="line"><a id="l00373" name="l00373"></a><span class="lineno">  373</span>    q15_t out;</div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno">  374</span> </div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span><span class="preprocessor">#if defined (ARM_MATH_DSP)</span></div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno">  376</span>    <span class="comment">/* Implementation of PID controller */</span></div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno">  377</span> </div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno">  378</span>    <span class="comment">/* acc = A0 * x[n]  */</span></div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno">  379</span>    acc = (q31_t) __SMUAD((uint32_t)S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">A0</a>, (uint32_t)in);</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span> </div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno">  381</span>    <span class="comment">/* acc += A1 * x[n-1] + A2 * x[n-2]  */</span></div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno">  382</span>    acc = (q63_t)__SMLALD((uint32_t)S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#ad8ac5ff736c0e51180398c31f777f18a">A1</a>, (uint32_t)read_q15x2 (S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>), (uint64_t)acc);</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno">  383</span><span class="preprocessor">#else</span></div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno">  384</span>    <span class="comment">/* acc = A0 * x[n]  */</span></div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno">  385</span>    acc = ((q31_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">A0</a>) * in;</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno">  386</span> </div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno">  387</span>    <span class="comment">/* acc += A1 * x[n-1] + A2 * x[n-2]  */</span></div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno">  388</span>    acc += (q31_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#ad8ac5ff736c0e51180398c31f777f18a">A1</a> * S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[0];</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno">  389</span>    acc += (q31_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a33e8b4c2d3e24b8b494f6edca6a89c1b">A2</a> * S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[1];</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno">  390</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno">  391</span> </div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno">  392</span>    <span class="comment">/* acc += y[n-1] */</span></div>
<div class="line"><a id="l00393" name="l00393"></a><span class="lineno">  393</span>    acc += (q31_t) S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[2] &lt;&lt; 15;</div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno">  394</span> </div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>    <span class="comment">/* saturate the output */</span></div>
<div class="line"><a id="l00396" name="l00396"></a><span class="lineno">  396</span>    out = (q15_t) (<a class="code hl_function" href="group___c_m_s_i_s___core___instruction_interface.html#ga372c0535573dde3e37f0f08c774a3487">__SSAT</a>((q31_t)(acc &gt;&gt; 15), 16));</div>
<div class="line"><a id="l00397" name="l00397"></a><span class="lineno">  397</span> </div>
<div class="line"><a id="l00398" name="l00398"></a><span class="lineno">  398</span>    <span class="comment">/* Update state */</span></div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno">  399</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[1] = S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[0];</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[0] = in;</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno">  401</span>    S-&gt;<a class="code hl_variable" href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">state</a>[2] = out;</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno">  402</span> </div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno">  403</span>    <span class="comment">/* return to application */</span></div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno">  404</span>    <span class="keywordflow">return</span> (out);</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno">  405</span>  }</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno">  406</span> </div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno">  407</span> </div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno">  408</span></div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno">  412</span></div>
<div class="line"><a id="l00436" name="l00436"></a><span class="lineno">  436</span> </div>
<div class="line"><a id="l00437" name="l00437"></a><span class="lineno">  437</span> </div>
<div class="line"><a id="l00438" name="l00438"></a><span class="lineno">  438</span></div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno">  453</span>  __STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__park.html#ga18f92d09e080edc98a00c01886b56b5d">arm_park_f32</a>(</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno">  454</span>  float32_t Ialpha,</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno">  455</span>  float32_t Ibeta,</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno">  456</span>  float32_t * pId,</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno">  457</span>  float32_t * pIq,</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno">  458</span>  float32_t sinVal,</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno">  459</span>  float32_t cosVal)</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno">  460</span>  {</div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno">  461</span>    <span class="comment">/* Calculate pId using the equation, pId = Ialpha * cosVal + Ibeta * sinVal */</span></div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno">  462</span>    *pId = Ialpha * cosVal + Ibeta * sinVal;</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno">  463</span> </div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno">  464</span>    <span class="comment">/* Calculate pIq using the equation, pIq = - Ialpha * sinVal + Ibeta * cosVal */</span></div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno">  465</span>    *pIq = -Ialpha * sinVal + Ibeta * cosVal;</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno">  466</span>  }</div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno">  467</span> </div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno">  468</span></div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno">  485</span>__STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__park.html#ga69be76685149b18f345f705aa8efaad0">arm_park_q31</a>(</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno">  486</span>  q31_t Ialpha,</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno">  487</span>  q31_t Ibeta,</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno">  488</span>  q31_t * pId,</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno">  489</span>  q31_t * pIq,</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno">  490</span>  q31_t sinVal,</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno">  491</span>  q31_t cosVal)</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno">  492</span>  {</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno">  493</span>    q31_t product1, product2;                    <span class="comment">/* Temporary variables used to store intermediate results */</span></div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno">  494</span>    q31_t product3, product4;                    <span class="comment">/* Temporary variables used to store intermediate results */</span></div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno">  495</span> </div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno">  496</span>    <span class="comment">/* Intermediate product is calculated by (Ialpha * cosVal) */</span></div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno">  497</span>    product1 = (q31_t) (((q63_t) (Ialpha) * (cosVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno">  498</span> </div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno">  499</span>    <span class="comment">/* Intermediate product is calculated by (Ibeta * sinVal) */</span></div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno">  500</span>    product2 = (q31_t) (((q63_t) (Ibeta) * (sinVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno">  501</span> </div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno">  502</span> </div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno">  503</span>    <span class="comment">/* Intermediate product is calculated by (Ialpha * sinVal) */</span></div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno">  504</span>    product3 = (q31_t) (((q63_t) (Ialpha) * (sinVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno">  505</span> </div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno">  506</span>    <span class="comment">/* Intermediate product is calculated by (Ibeta * cosVal) */</span></div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno">  507</span>    product4 = (q31_t) (((q63_t) (Ibeta) * (cosVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno">  508</span> </div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno">  509</span>    <span class="comment">/* Calculate pId by adding the two intermediate products 1 and 2 */</span></div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno">  510</span>    *pId = __QADD(product1, product2);</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno">  511</span> </div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno">  512</span>    <span class="comment">/* Calculate pIq by subtracting the two intermediate products 3 from 4 */</span></div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno">  513</span>    *pIq = __QSUB(product4, product3);</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno">  514</span>  }</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno">  515</span> </div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno">  516</span> </div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno">  517</span></div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno">  521</span></div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno">  538</span> </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno">  539</span>  </div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno">  540</span></div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno">  552</span>  __STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__inv__park.html#ga896b639ecd52c33d427bc7cdc8d303b2">arm_inv_park_f32</a>(</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno">  553</span>  float32_t Id,</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno">  554</span>  float32_t Iq,</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno">  555</span>  float32_t * pIalpha,</div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno">  556</span>  float32_t * pIbeta,</div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno">  557</span>  float32_t sinVal,</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno">  558</span>  float32_t cosVal)</div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno">  559</span>  {</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno">  560</span>    <span class="comment">/* Calculate pIalpha using the equation, pIalpha = Id * cosVal - Iq * sinVal */</span></div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno">  561</span>    *pIalpha = Id * cosVal - Iq * sinVal;</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno">  562</span> </div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno">  563</span>    <span class="comment">/* Calculate pIbeta using the equation, pIbeta = Id * sinVal + Iq * cosVal */</span></div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno">  564</span>    *pIbeta = Id * sinVal + Iq * cosVal;</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno">  565</span>  }</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno">  566</span> </div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno">  567</span></div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno">  584</span>__STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__inv__park.html#gae7165779ef72e1f797d0c601d6d619b2">arm_inv_park_q31</a>(</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno">  585</span>  q31_t Id,</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno">  586</span>  q31_t Iq,</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno">  587</span>  q31_t * pIalpha,</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno">  588</span>  q31_t * pIbeta,</div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno">  589</span>  q31_t sinVal,</div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno">  590</span>  q31_t cosVal)</div>
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno">  591</span>  {</div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno">  592</span>    q31_t product1, product2;                    <span class="comment">/* Temporary variables used to store intermediate results */</span></div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno">  593</span>    q31_t product3, product4;                    <span class="comment">/* Temporary variables used to store intermediate results */</span></div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno">  594</span> </div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno">  595</span>    <span class="comment">/* Intermediate product is calculated by (Id * cosVal) */</span></div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno">  596</span>    product1 = (q31_t) (((q63_t) (Id) * (cosVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno">  597</span> </div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno">  598</span>    <span class="comment">/* Intermediate product is calculated by (Iq * sinVal) */</span></div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno">  599</span>    product2 = (q31_t) (((q63_t) (Iq) * (sinVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno">  600</span> </div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno">  601</span> </div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno">  602</span>    <span class="comment">/* Intermediate product is calculated by (Id * sinVal) */</span></div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno">  603</span>    product3 = (q31_t) (((q63_t) (Id) * (sinVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno">  604</span> </div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno">  605</span>    <span class="comment">/* Intermediate product is calculated by (Iq * cosVal) */</span></div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno">  606</span>    product4 = (q31_t) (((q63_t) (Iq) * (cosVal)) &gt;&gt; 31);</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno">  607</span> </div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno">  608</span>    <span class="comment">/* Calculate pIalpha by using the two intermediate products 1 and 2 */</span></div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno">  609</span>    *pIalpha = __QSUB(product1, product2);</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno">  610</span> </div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno">  611</span>    <span class="comment">/* Calculate pIbeta by using the two intermediate products 3 and 4 */</span></div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno">  612</span>    *pIbeta = __QADD(product4, product3);</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno">  613</span>  }</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno">  614</span> </div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno">  615</span></div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno">  619</span></div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno">  641</span> </div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno">  642</span></div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno">  653</span>  __STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__clarke.html#ga82d40c62bb48ef4d613f1f2f685b4084">arm_clarke_f32</a>(</div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno">  654</span>  float32_t Ia,</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno">  655</span>  float32_t Ib,</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno">  656</span>  float32_t * pIalpha,</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno">  657</span>  float32_t * pIbeta)</div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno">  658</span>  {</div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno">  659</span>    <span class="comment">/* Calculate pIalpha using the equation, pIalpha = Ia */</span></div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno">  660</span>    *pIalpha = Ia;</div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno">  661</span> </div>
<div class="line"><a id="l00662" name="l00662"></a><span class="lineno">  662</span>    <span class="comment">/* Calculate pIbeta using the equation, pIbeta = (1/sqrt(3)) * Ia + (2/sqrt(3)) * Ib */</span></div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno">  663</span>    *pIbeta = (0.57735026919f * Ia + 1.15470053838f * Ib);</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno">  664</span>  }</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno">  665</span> </div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno">  666</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno">  681</span>__STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__clarke.html#ga8d68db2a6e26e1caab677f5ab293c068">arm_clarke_q31</a>(</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno">  682</span>  q31_t Ia,</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno">  683</span>  q31_t Ib,</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno">  684</span>  q31_t * pIalpha,</div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno">  685</span>  q31_t * pIbeta)</div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno">  686</span>  {</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno">  687</span>    q31_t product1, product2;                    <span class="comment">/* Temporary variables used to store intermediate results */</span></div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno">  688</span> </div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno">  689</span>    <span class="comment">/* Calculating pIalpha from Ia by equation pIalpha = Ia */</span></div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno">  690</span>    *pIalpha = Ia;</div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno">  691</span> </div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno">  692</span>    <span class="comment">/* Intermediate product is calculated by (1/(sqrt(3)) * Ia) */</span></div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno">  693</span>    product1 = (q31_t) (((q63_t) Ia * 0x24F34E8B) &gt;&gt; 30);</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno">  694</span> </div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno">  695</span>    <span class="comment">/* Intermediate product is calculated by (2/sqrt(3) * Ib) */</span></div>
<div class="line"><a id="l00696" name="l00696"></a><span class="lineno">  696</span>    product2 = (q31_t) (((q63_t) Ib * 0x49E69D16) &gt;&gt; 30);</div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno">  697</span> </div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno">  698</span>    <span class="comment">/* pIbeta is calculated by adding the intermediate products */</span></div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno">  699</span>    *pIbeta = __QADD(product1, product2);</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno">  700</span>  }</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno">  701</span> </div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno">  702</span> </div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno">  703</span></div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno">  707</span></div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno">  723</span> </div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno">  724</span> </div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno">  725</span></div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno">  735</span>  __STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__inv__clarke.html#ga1a73ce96f94b2124d02426690e587197">arm_inv_clarke_f32</a>(</div>
<div class="line"><a id="l00736" name="l00736"></a><span class="lineno">  736</span>  float32_t Ialpha,</div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno">  737</span>  float32_t Ibeta,</div>
<div class="line"><a id="l00738" name="l00738"></a><span class="lineno">  738</span>  float32_t * pIa,</div>
<div class="line"><a id="l00739" name="l00739"></a><span class="lineno">  739</span>  float32_t * pIb)</div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno">  740</span>  {</div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno">  741</span>    <span class="comment">/* Calculating pIa from Ialpha by equation pIa = Ialpha */</span></div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno">  742</span>    *pIa = Ialpha;</div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno">  743</span> </div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno">  744</span>    <span class="comment">/* Calculating pIb from Ialpha and Ibeta by equation pIb = -(1/2) * Ialpha + (sqrt(3)/2) * Ibeta */</span></div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno">  745</span>    *pIb = -0.5f * Ialpha + 0.8660254039f * Ibeta;</div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno">  746</span>  }</div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno">  747</span> </div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno">  748</span></div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno">  763</span>__STATIC_FORCEINLINE <span class="keywordtype">void</span> <a class="code hl_function" href="group__inv__clarke.html#ga3bab178431f22d13332a0dfae4390172">arm_inv_clarke_q31</a>(</div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno">  764</span>  q31_t Ialpha,</div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno">  765</span>  q31_t Ibeta,</div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno">  766</span>  q31_t * pIa,</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno">  767</span>  q31_t * pIb)</div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno">  768</span>  {</div>
<div class="line"><a id="l00769" name="l00769"></a><span class="lineno">  769</span>    q31_t product1, product2;                    <span class="comment">/* Temporary variables used to store intermediate results */</span></div>
<div class="line"><a id="l00770" name="l00770"></a><span class="lineno">  770</span> </div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno">  771</span>    <span class="comment">/* Calculating pIa from Ialpha by equation pIa = Ialpha */</span></div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno">  772</span>    *pIa = Ialpha;</div>
<div class="line"><a id="l00773" name="l00773"></a><span class="lineno">  773</span> </div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno">  774</span>    <span class="comment">/* Intermediate product is calculated by (1/(2*sqrt(3)) * Ia) */</span></div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno">  775</span>    product1 = (q31_t) (((q63_t) (Ialpha) * (0x40000000)) &gt;&gt; 31);</div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno">  776</span> </div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno">  777</span>    <span class="comment">/* Intermediate product is calculated by (1/sqrt(3) * pIb) */</span></div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno">  778</span>    product2 = (q31_t) (((q63_t) (Ibeta) * (0x6ED9EBA1)) &gt;&gt; 31);</div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno">  779</span> </div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno">  780</span>    <span class="comment">/* pIb is calculated by subtracting the products */</span></div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno">  781</span>    *pIb = __QSUB(product2, product1);</div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno">  782</span>  }</div>
<div class="line"><a id="l00783" name="l00783"></a><span class="lineno">  783</span> </div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno">  784</span> </div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno">  785</span> </div>
<div class="line"><a id="l00786" name="l00786"></a><span class="lineno">  786</span> </div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno">  787</span> </div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno">  788</span>  </div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno">  789</span><span class="preprocessor">#ifdef   __cplusplus</span></div>
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno">  790</span>}</div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno">  791</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno">  792</span> </div>
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno">  793</span><span class="preprocessor">#endif </span><span class="comment">/* ifndef _CONTROLLER_FUNCTIONS_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="agroup___c_m_s_i_s___core___instruction_interface_html_ga372c0535573dde3e37f0f08c774a3487"><div class="ttname"><a href="group___c_m_s_i_s___core___instruction_interface.html#ga372c0535573dde3e37f0f08c774a3487">__SSAT</a></div><div class="ttdeci">__STATIC_FORCEINLINE int32_t __SSAT(int32_t val, uint32_t sat)</div><div class="ttdoc">Signed Saturate.</div><div class="ttdef"><b>Definition</b> cmsis_armclang.h:1163</div></div>
<div class="ttc" id="agroup___p_i_d_html_ga5a6865ed706b7dd969ef0bd58a61f306"><div class="ttname"><a href="group___p_i_d.html#ga5a6865ed706b7dd969ef0bd58a61f306">arm_pid_f32</a></div><div class="ttdeci">__STATIC_FORCEINLINE float32_t arm_pid_f32(arm_pid_instance_f32 *S, float32_t in)</div><div class="ttdoc">Process function for the floating-point PID Control.</div><div class="ttdef"><b>Definition</b> arm_math.h:5891</div></div>
<div class="ttc" id="agroup___p_i_d_html_ga7ecc87208cb297fb9a31cec4f18bb54e"><div class="ttname"><a href="group___p_i_d.html#ga7ecc87208cb297fb9a31cec4f18bb54e">arm_pid_q15</a></div><div class="ttdeci">__STATIC_FORCEINLINE q15_t arm_pid_q15(arm_pid_instance_q15 *S, q15_t in)</div><div class="ttdoc">Process function for the Q15 PID Control.</div><div class="ttdef"><b>Definition</b> arm_math.h:5970</div></div>
<div class="ttc" id="agroup___p_i_d_html_ga9ead8b3180125fb42879389477b99dc8"><div class="ttname"><a href="group___p_i_d.html#ga9ead8b3180125fb42879389477b99dc8">arm_pid_q31</a></div><div class="ttdeci">__STATIC_FORCEINLINE q31_t arm_pid_q31(arm_pid_instance_q31 *S, q31_t in)</div><div class="ttdoc">Process function for the Q31 PID Control.</div><div class="ttdef"><b>Definition</b> arm_math.h:5924</div></div>
<div class="ttc" id="agroup__clarke_html_ga82d40c62bb48ef4d613f1f2f685b4084"><div class="ttname"><a href="group__clarke.html#ga82d40c62bb48ef4d613f1f2f685b4084">arm_clarke_f32</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_clarke_f32(float32_t Ia, float32_t Ib, float32_t *pIalpha, float32_t *pIbeta)</div><div class="ttdoc">Floating-point Clarke transform.</div><div class="ttdef"><b>Definition</b> arm_math.h:6079</div></div>
<div class="ttc" id="agroup__clarke_html_ga8d68db2a6e26e1caab677f5ab293c068"><div class="ttname"><a href="group__clarke.html#ga8d68db2a6e26e1caab677f5ab293c068">arm_clarke_q31</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_clarke_q31(q31_t Ia, q31_t Ib, q31_t *pIalpha, q31_t *pIbeta)</div><div class="ttdoc">Clarke transform for Q31 version.</div><div class="ttdef"><b>Definition</b> arm_math.h:6106</div></div>
<div class="ttc" id="agroup__inv__clarke_html_ga1a73ce96f94b2124d02426690e587197"><div class="ttname"><a href="group__inv__clarke.html#ga1a73ce96f94b2124d02426690e587197">arm_inv_clarke_f32</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_inv_clarke_f32(float32_t Ialpha, float32_t Ibeta, float32_t *pIa, float32_t *pIb)</div><div class="ttdoc">Floating-point Inverse Clarke transform.</div><div class="ttdef"><b>Definition</b> arm_math.h:6165</div></div>
<div class="ttc" id="agroup__inv__clarke_html_ga3bab178431f22d13332a0dfae4390172"><div class="ttname"><a href="group__inv__clarke.html#ga3bab178431f22d13332a0dfae4390172">arm_inv_clarke_q31</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_inv_clarke_q31(q31_t Ialpha, q31_t Ibeta, q31_t *pIa, q31_t *pIb)</div><div class="ttdoc">Inverse Clarke transform for Q31 version.</div><div class="ttdef"><b>Definition</b> arm_math.h:6192</div></div>
<div class="ttc" id="agroup__inv__park_html_ga896b639ecd52c33d427bc7cdc8d303b2"><div class="ttname"><a href="group__inv__park.html#ga896b639ecd52c33d427bc7cdc8d303b2">arm_inv_park_f32</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_inv_park_f32(float32_t Id, float32_t Iq, float32_t *pIalpha, float32_t *pIbeta, float32_t sinVal, float32_t cosVal)</div><div class="ttdoc">Floating-point Inverse Park transform.</div><div class="ttdef"><b>Definition</b> arm_math.h:6368</div></div>
<div class="ttc" id="agroup__inv__park_html_gae7165779ef72e1f797d0c601d6d619b2"><div class="ttname"><a href="group__inv__park.html#gae7165779ef72e1f797d0c601d6d619b2">arm_inv_park_q31</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_inv_park_q31(q31_t Id, q31_t Iq, q31_t *pIalpha, q31_t *pIbeta, q31_t sinVal, q31_t cosVal)</div><div class="ttdoc">Inverse Park transform for Q31 version.</div><div class="ttdef"><b>Definition</b> arm_math.h:6399</div></div>
<div class="ttc" id="agroup__park_html_ga18f92d09e080edc98a00c01886b56b5d"><div class="ttname"><a href="group__park.html#ga18f92d09e080edc98a00c01886b56b5d">arm_park_f32</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_park_f32(float32_t Ialpha, float32_t Ibeta, float32_t *pId, float32_t *pIq, float32_t sinVal, float32_t cosVal)</div><div class="ttdoc">Floating-point Park transform.</div><div class="ttdef"><b>Definition</b> arm_math.h:6265</div></div>
<div class="ttc" id="agroup__park_html_ga69be76685149b18f345f705aa8efaad0"><div class="ttname"><a href="group__park.html#ga69be76685149b18f345f705aa8efaad0">arm_park_q31</a></div><div class="ttdeci">__STATIC_FORCEINLINE void arm_park_q31(q31_t Ialpha, q31_t Ibeta, q31_t *pId, q31_t *pIq, q31_t sinVal, q31_t cosVal)</div><div class="ttdoc">Park transform for Q31 version.</div><div class="ttdef"><b>Definition</b> arm_math.h:6296</div></div>
<div class="ttc" id="astructarm__pid__instance__f32_html"><div class="ttname"><a href="structarm__pid__instance__f32.html">arm_pid_instance_f32</a></div><div class="ttdoc">Instance structure for the floating-point PID Control.</div><div class="ttdef"><b>Definition</b> arm_math.h:2774</div></div>
<div class="ttc" id="astructarm__pid__instance__f32_html_a155acf642ba2f521869f19d694cd7fa0"><div class="ttname"><a href="structarm__pid__instance__f32.html#a155acf642ba2f521869f19d694cd7fa0">arm_pid_instance_f32::A2</a></div><div class="ttdeci">float32_t A2</div><div class="ttdef"><b>Definition</b> arm_math.h:2777</div></div>
<div class="ttc" id="astructarm__pid__instance__f32_html_a7def89571c50f7137a213326a396e560"><div class="ttname"><a href="structarm__pid__instance__f32.html#a7def89571c50f7137a213326a396e560">arm_pid_instance_f32::A1</a></div><div class="ttdeci">float32_t A1</div><div class="ttdef"><b>Definition</b> arm_math.h:2776</div></div>
<div class="ttc" id="astructarm__pid__instance__f32_html_ac8ef2ec43648e986c99e1df96c68a36f"><div class="ttname"><a href="structarm__pid__instance__f32.html#ac8ef2ec43648e986c99e1df96c68a36f">arm_pid_instance_f32::state</a></div><div class="ttdeci">float32_t state[3]</div><div class="ttdef"><b>Definition</b> arm_math.h:2778</div></div>
<div class="ttc" id="astructarm__pid__instance__f32_html_ad7b0bed64915d0a25a3409fa2dc45556"><div class="ttname"><a href="structarm__pid__instance__f32.html#ad7b0bed64915d0a25a3409fa2dc45556">arm_pid_instance_f32::A0</a></div><div class="ttdeci">float32_t A0</div><div class="ttdef"><b>Definition</b> arm_math.h:2775</div></div>
<div class="ttc" id="astructarm__pid__instance__q15_html"><div class="ttname"><a href="structarm__pid__instance__q15.html">arm_pid_instance_q15</a></div><div class="ttdoc">Instance structure for the Q15 PID Control.</div><div class="ttdef"><b>Definition</b> arm_math.h:2742</div></div>
<div class="ttc" id="astructarm__pid__instance__q15_html_a33e8b4c2d3e24b8b494f6edca6a89c1b"><div class="ttname"><a href="structarm__pid__instance__q15.html#a33e8b4c2d3e24b8b494f6edca6a89c1b">arm_pid_instance_q15::A2</a></div><div class="ttdeci">q15_t A2</div><div class="ttdef"><b>Definition</b> arm_math.h:2746</div></div>
<div class="ttc" id="astructarm__pid__instance__q15_html_a3c54b074a2a3d1bbc2fe2589fcc25231"><div class="ttname"><a href="structarm__pid__instance__q15.html#a3c54b074a2a3d1bbc2fe2589fcc25231">arm_pid_instance_q15::state</a></div><div class="ttdeci">q15_t state[3]</div><div class="ttdef"><b>Definition</b> arm_math.h:2750</div></div>
<div class="ttc" id="astructarm__pid__instance__q15_html_ad77f3a2823c7f96de42c92a3fbf3246b"><div class="ttname"><a href="structarm__pid__instance__q15.html#ad77f3a2823c7f96de42c92a3fbf3246b">arm_pid_instance_q15::A0</a></div><div class="ttdeci">q15_t A0</div><div class="ttdef"><b>Definition</b> arm_math.h:2743</div></div>
<div class="ttc" id="astructarm__pid__instance__q15_html_ad8ac5ff736c0e51180398c31f777f18a"><div class="ttname"><a href="structarm__pid__instance__q15.html#ad8ac5ff736c0e51180398c31f777f18a">arm_pid_instance_q15::A1</a></div><div class="ttdeci">q15_t A1</div><div class="ttdef"><b>Definition</b> arm_math.h:2745</div></div>
<div class="ttc" id="astructarm__pid__instance__q31_html"><div class="ttname"><a href="structarm__pid__instance__q31.html">arm_pid_instance_q31</a></div><div class="ttdoc">Instance structure for the Q31 PID Control.</div><div class="ttdef"><b>Definition</b> arm_math.h:2760</div></div>
<div class="ttc" id="astructarm__pid__instance__q31_html_aa5332635ce9c7078cdb4c1ecf442eadd"><div class="ttname"><a href="structarm__pid__instance__q31.html#aa5332635ce9c7078cdb4c1ecf442eadd">arm_pid_instance_q31::A0</a></div><div class="ttdeci">q31_t A0</div><div class="ttdef"><b>Definition</b> arm_math.h:2761</div></div>
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